CA3019438C - Method, constraining device and system for determining geometric properties of a manipulator - Google Patents
Method, constraining device and system for determining geometric properties of a manipulator Download PDFInfo
- Publication number
- CA3019438C CA3019438C CA3019438A CA3019438A CA3019438C CA 3019438 C CA3019438 C CA 3019438C CA 3019438 A CA3019438 A CA 3019438A CA 3019438 A CA3019438 A CA 3019438A CA 3019438 C CA3019438 C CA 3019438C
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- manipulator
- motion
- constraining
- joint
- constrained
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
- B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
- B25J15/0433—Connections means having gripping members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39048—Closed loop kinematic self calibration, grip part of robot with hand
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39183—Compliance compensation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39186—Flexible joint
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40279—Flexible arm, link
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40527—Modeling, identification of link parameters
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP16162695 | 2016-03-29 | ||
| EP16162695.7 | 2016-03-29 | ||
| PCT/EP2017/057187 WO2017167687A2 (en) | 2016-03-29 | 2017-03-27 | Method, constraining device and system for determining geometric properties of a manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA3019438A1 CA3019438A1 (en) | 2017-10-05 |
| CA3019438C true CA3019438C (en) | 2024-06-25 |
Family
ID=55640620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA3019438A Active CA3019438C (en) | 2016-03-29 | 2017-03-27 | Method, constraining device and system for determining geometric properties of a manipulator |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US11192243B2 (da) |
| EP (1) | EP3436876B1 (da) |
| CN (1) | CN109196429B (da) |
| CA (1) | CA3019438C (da) |
| DK (1) | DK3436876T3 (da) |
| TW (1) | TWI764891B (da) |
| WO (1) | WO2017167687A2 (da) |
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| US10337561B2 (en) * | 2016-12-15 | 2019-07-02 | Boston Dynamics, Inc. | Transmission with integrated overload protection for a legged robot |
| US11370120B2 (en) | 2017-06-12 | 2022-06-28 | Siemens Industry Software Ltd. | Method and system for teaching a robot in reaching a given target in robot manufacturing |
| EP3441201B1 (en) * | 2017-08-08 | 2023-01-18 | Siemens Healthcare GmbH | Method for operating a robot and robotic system |
| JP7007839B2 (ja) * | 2017-08-31 | 2022-01-25 | 川崎重工業株式会社 | 多関節ロボット |
| CN107738759B (zh) * | 2017-11-13 | 2023-12-01 | 山东太古飞机工程有限公司 | 飞机发动机整流罩拆除及安装用加力器 |
| CN108187310B (zh) * | 2017-12-21 | 2019-05-31 | 东南大学 | 基于力觉信息和姿态信息的肢体运动意图理解与上肢康复训练机器人及其控制方法 |
| JP7111498B2 (ja) * | 2018-04-18 | 2022-08-02 | ファナック株式会社 | ロボットの制御装置およびロボットの制御方法 |
| EP3610993A1 (en) * | 2018-08-14 | 2020-02-19 | Beckman Coulter, Inc. | System for active motion displacement control of a robot |
| RU2696508C1 (ru) * | 2018-08-31 | 2019-08-02 | Общество с ограниченной ответственностью "АРКОДИМ" | Промышленный робот-манипулятор с системой двойных энкодеров и способ его позиционирования |
| WO2020056380A1 (en) | 2018-09-13 | 2020-03-19 | The Charles Stark Draper Laboratory, Inc. | Locating and attaching interchangeable tools in-situ |
| CN109176488B (zh) * | 2018-09-28 | 2021-09-10 | 哈尔滨工业大学（深圳） | 一种柔性机器人运动学标定方法及系统 |
| US12059807B2 (en) * | 2018-11-12 | 2024-08-13 | Magna International Inc. | Sensor-free force/torque sensing in an articulated electromechanical actuator-driven robot |
| US10881362B2 (en) | 2018-11-20 | 2021-01-05 | General Electric Company | Systems for laser alignment |
| JP7411665B2 (ja) | 2019-01-18 | 2024-01-11 | ノーグレン オートメーション ソリューションズ，リミティド ライアビリティ カンパニー | 自動交換ツーリングシステムのための方法及び装置 |
| US11254019B2 (en) * | 2019-03-05 | 2022-02-22 | The Boeing Company | Automatic calibration for a robot optical sensor |
| JP7295302B2 (ja) * | 2019-04-01 | 2023-06-20 | ファナック株式会社 | ロボットを制御するための機構誤差パラメータを較正するロボットの制御装置および教示操作盤 |
| JP7048535B2 (ja) | 2019-04-01 | 2022-04-05 | ファナック株式会社 | ロボットを制御するための機構誤差パラメータを較正するロボットの制御装置 |
| TWI725646B (zh) * | 2019-12-03 | 2021-04-21 | 台達電子工業股份有限公司 | 三維測量裝置及所適用之機械手臂的校正方法 |
| CN113021331B (zh) * | 2019-12-24 | 2022-04-05 | 沈阳智能机器人创新中心有限公司 | 一种七自由度协作机器人动力学建模与辨识方法 |
| TWI755688B (zh) * | 2020-02-27 | 2022-02-21 | 國立臺灣科技大學 | 並聯式機械手臂故障偵測系統及其方法 |
| WO2021211578A1 (en) | 2020-04-13 | 2021-10-21 | Orangewoodlabs Inc. | System and/or method for error compensation in mechanical transmissions |
| CN111687845B (zh) * | 2020-06-23 | 2021-11-30 | 哈尔滨工业大学 | 一种基于惯性测量单元的机械臂运动学参数标定方法 |
| CN111538949B (zh) * | 2020-07-10 | 2020-10-16 | 深圳市优必选科技股份有限公司 | 冗余机器人逆运动学求解方法、装置和冗余机器人 |
| US11745343B2 (en) * | 2020-11-18 | 2023-09-05 | Darrion Vinh Nguyen | Method and apparatus for controlling robot arms using elastic distortion simulations |
| CN112417736B (zh) * | 2020-12-03 | 2022-08-16 | 天津大学 | 一种机床整机静刚度设计方法 |
| TW202224872A (zh) | 2020-12-28 | 2022-07-01 | 財團法人工業技術研究院 | 機械手臂校正系統及機械手臂校正系統方法 |
| US11673258B2 (en) * | 2021-01-13 | 2023-06-13 | GM Global Technology Operations LLC | Modular robotic device and method to operate a modular robotic device |
| CN113305874B (zh) * | 2021-05-27 | 2023-02-17 | 北京交通大学 | 一种三指多自由度灵巧手机构 |
| BR102021012724A2 (pt) * | 2021-06-25 | 2022-12-27 | Petróleo Brasileiro S.A. - Petrobras | Sistema robotizado móvel de amplificação de força |
| EP4382261A1 (en) * | 2021-08-04 | 2024-06-12 | Kyocera Corporation | Robot control device, robot control system, and robot control method |
| US12133707B2 (en) * | 2021-08-09 | 2024-11-05 | Verb Surgical Inc. | Evaluation of calibration for surgical tool |
| CN113733155B (zh) * | 2021-08-12 | 2022-10-11 | 广州数控设备有限公司 | 六轴工业机器人标定装置和标定方法 |
| CN114035595B (zh) * | 2021-10-14 | 2024-08-09 | 北京空间飞行器总体设计部 | 一种深空探测指向机构多自由度大范围运动线束控制方法 |
| US20230146701A1 (en) * | 2021-10-25 | 2023-05-11 | Wichita State University | Surface preparation end effector for industrial robot system and inspection and repair processes |
| WO2023077415A1 (en) * | 2021-11-05 | 2023-05-11 | Foshan Flexiv Robotics Technology Co, . Ltd. | Kinematics calibration method and calibration system for robot with multiple degrees of freedom |
| TWI779932B (zh) * | 2021-11-22 | 2022-10-01 | 博府智造股份有限公司 | 恆力式主軸可快速轉換力控軸向之加工裝置及其加工方法 |
| CN114147720B (zh) * | 2021-12-14 | 2024-04-02 | 杭州锐沃机器人科技有限公司 | 一种多自由度机械臂的逆运动学通用求解方法及装置 |
| CN118215254A (zh) * | 2022-01-27 | 2024-06-18 | 武汉领普科技有限公司 | 位姿变换装置以及人体传感器及其处理方法、控制系统 |
| CN114872938A (zh) * | 2022-05-12 | 2022-08-09 | 上海交通大学 | 自生长柔性变刚度机械臂空间跨尺寸目标自动捕获控制方法 |
| CN114800532B (zh) * | 2022-06-27 | 2022-09-16 | 西南交通大学 | 机械臂控制参数确定方法、装置、设备、介质和机器人 |
| CN115091464B (zh) * | 2022-07-22 | 2024-10-01 | 西安理工大学 | 机械臂关节刚度参数的识别方法 |
| CN115042189B (zh) * | 2022-07-22 | 2024-10-01 | 西安理工大学 | 机械臂参数误差识别及补偿方法 |
| CN115319727B (zh) * | 2022-08-15 | 2024-10-29 | 中国科学院宁波材料技术与工程研究所 | 一种基于位姿约束和力感知的机器人标定方法 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10143753B4 (de) * | 2001-09-06 | 2005-04-14 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Kalibrierverfahren für einen Roboterarm |
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| JP2009537228A (ja) * | 2006-05-19 | 2009-10-29 | マコ サージカル コーポレーション | 触覚デバイスを制御するための方法および装置 |
| WO2012076038A1 (en) | 2010-12-06 | 2012-06-14 | Abb Research Ltd. | A method for calibrating a robot unit, a computer unit, a robot unit and use of a robot unit |
| WO2013045314A1 (en) | 2011-09-28 | 2013-04-04 | Universal Robots A/S | Calibration and programming of robots |
| JP2013184236A (ja) * | 2012-03-06 | 2013-09-19 | Jtekt Corp | ロボットのキャリブレーション方法及びキャリブレーション装置 |
| JP5938954B2 (ja) * | 2012-03-06 | 2016-06-22 | 株式会社ジェイテクト | ロボットのキャリブレーション方法及びキャリブレーション装置 |
| JP5895628B2 (ja) * | 2012-03-15 | 2016-03-30 | 株式会社ジェイテクト | ロボットの制御方法及びロボット制御装置、並びにロボット制御システム |
| SE536708C2 (sv) * | 2012-10-23 | 2014-06-10 | Cognibotics Ab | Metod och system för bestämning av minst en egenskap hos enmanipulator |
| SE537534C2 (sv) * | 2013-08-27 | 2015-06-02 | Cognibotics Ab | Metod och system för bestämning av åtminstone en egenskap hos en manipulator |
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2017
- 2017-03-27 EP EP17717094.1A patent/EP3436876B1/en active Active
- 2017-03-27 CN CN201780033588.2A patent/CN109196429B/zh active Active
- 2017-03-27 TW TW106110111A patent/TWI764891B/zh active
- 2017-03-27 CA CA3019438A patent/CA3019438C/en active Active
- 2017-03-27 US US16/089,282 patent/US11192243B2/en active Active
- 2017-03-27 WO PCT/EP2017/057187 patent/WO2017167687A2/en active Application Filing
- 2017-03-27 DK DK17717094.1T patent/DK3436876T3/da active
Also Published As
| Publication number | Publication date |
|---|---|
| US11192243B2 (en) | 2021-12-07 |
| EP3436876B1 (en) | 2021-07-07 |
| TWI764891B (zh) | 2022-05-21 |
| CN109196429B (zh) | 2021-10-15 |
| EP3436876A2 (en) | 2019-02-06 |
| CA3019438A1 (en) | 2017-10-05 |
| TW201736065A (zh) | 2017-10-16 |
| DK3436876T3 (da) | 2021-10-11 |
| WO2017167687A3 (en) | 2017-12-07 |
| CN109196429A (zh) | 2019-01-11 |
| US20200298403A1 (en) | 2020-09-24 |
| WO2017167687A2 (en) | 2017-10-05 |
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